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Algorithmic Foundations of Robotics XV

Proceedings of the Fifteenth Workshop on the Algorithmic Foundations of Robotics

  • Conference proceedings
  • © 2023

Overview

Editors:
  1. Steven M. LaValle

    1. Center for Ubiquitous Computing, University of Oulu, Oulu, Finland

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  2. Jason M. O’Kane

    1. Department of Computer Science and Engineering, Texas A&M University, College Station, USA

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  3. Michael Otte

    1. Department of Aerospace Engineering, University of Maryland, College Park, USA

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  4. Dorsa Sadigh

    1. Gates Computer Science, Stanford University, Stanford, USA

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  5. Pratap Tokekar

    1. Department of Computer Science, University of Maryland, College Park, USA

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  • Highlights the latest research on robotic algorithms
  • Gathers the edited papers presented at the 15th International WAFR 2022
  • Written by leading experts in the field

Part of the book series: Springer Proceedings in Advanced Robotics (SPAR, volume 25)

Included in the following conference series:

Conference proceedings info: WAFR 2022.

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Table of contents (32 papers)

  1. Front Matter

    Pages i-xv
    Download chapter PDF

  2. Parametrized Motion Planning and Topological Complexity

    • Michael Farber, Shmuel Weinberger
    Pages 1-17

  3. A New Application of Discrete Morse Theory to Optimizing Safe Motion Planning Paths

    • Aakriti Upadhyay, Boris Goldfarb, Weifu Wang, Chinwe Ekenna
    Pages 18-35

  4. Design Space Exploration for Sampling-Based Motion Planning Programs with Combinatory Logic Synthesis

    • Tristan Schäfer, Jan Bessai, Constantin Chaumet, Jakob Rehof, Christian Riest
    Pages 36-51

  5. Large-Scale Heterogeneous Multi-robot Coverage via Domain Decomposition and Generative Allocation

    • Jiaheng Hu, Howard Coffin, Julian Whitman, Matthew Travers, Howie Choset
    Pages 52-67

  6. Efficient Motion Planning Under Obstacle Uncertainty with Local Dependencies

    • Brian Axelrod, Luke Shimanuki
    Pages 68-84

  7. Distributed Spacing Control for Multiple, Buoyancy-Controlled Underwater Robots

    • Cong Wei, Derek A. Paley
    Pages 85-97

  8. Decentralized Robot Swarm Clustering: Adding Resilience to Malicious Masquerade Attacks

    • Mitali Gandhe, Michael Otte
    Pages 98-114

  9. The Role of Heterogeneity in Autonomous Perimeter Defense Problems

    • Aviv Adler, Oscar Mickelin, Ragesh K. Ramachandran, Gaurav S. Sukhatme, Sertac Karaman
    Pages 115-131

  10. PiP-X: Funnel-Based Online Feedback Motion Planning/Replanning in Dynamic Environments

    • Mohamed Khalid M Jaffar, Michael Otte
    Pages 132-148

  11. Sample-Efficient Safety Assurances Using Conformal Prediction

    • Rachel Luo, Shengjia Zhao, Jonathan Kuck, Boris Ivanovic, Silvio Savarese, Edward Schmerling et al.
    Pages 149-169

  12. Adaptive Discretization Using Voronoi Trees for Continuous-Action POMDPs

    • Marcus Hoerger, Hanna Kurniawati, Dirk Kroese, Nan Ye
    Pages 170-187

  13. Hierarchical Reinforcement Learning Under Mixed Observability

    • Hai Nguyen, Zhihan Yang, Andrea Baisero, Xiao Ma, Robert Platt, Christopher Amato
    Pages 188-204

  14. Nondeterminism Subject to Output Commitment in Combinatorial Filters

    • Yulin Zhang, Dylan A. Shell
    Pages 205-222

  15. Partial Satisfaction of Signal Temporal Logic Specifications for Coordination of Multi-robot Systems

    • Gustavo A. Cardona, Cristian-Ioan Vasile
    Pages 223-238

  16. Information Theoretic Intent Disambiguation via Contextual Nudges for Assistive Shared Control

    • Deepak E. Gopinath, Andrew Thompson, Brenna D. Argall
    Pages 239-255

  17. The Limits of Learning and Planning: Minimal Sufficient Information Transition Systems

    • Basak Sakcak, Vadim Weinstein, Steven M. LaValle
    Pages 256-272

  18. Towards a Framework for Comparing the Complexity of Robotic Tasks

    • Michelle Ho, Alec Farid, Anirudha Majumdar
    Pages 273-293

  19. Exponential Convergence of Infeasibility Proofs for Kinematic Motion Planning

    • Sihui Li, Neil T. Dantam
    Pages 294-311

  20. Lane-Level Route Planning for Autonomous Vehicles

    • Mitchell Jones, Maximilian Haas-Heger, Jur van den Berg
    Pages 312-327
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  1. Algorithmic Foundations of Robotics XV

Keywords

About this book

This book includes significant recent research on robotic algorithms. It has been written by leading experts in the field.

The 15th Workshop on the Algorithmic Foundations of Robotics (WAFR) was held on June 22–24, 2022, at the University of Maryland, College Park, Maryland. Each chapter represents an exciting state-of-the-art development in robotic algorithms that was presented at this 15th incarnation of WAFR.

Different chapters combine ideas from a wide variety of fields, spanning and combining planning (for tasks, paths, motion, navigation, coverage, and patrol), computational geometry and topology, control theory, machine learning, formal methods, game theory, information theory, and theoretical computer science. Many of these papers explore new and interesting problems and problem variants that include human–robot interaction, planning and reasoning under uncertainty, dynamic environments, distributed decision making, multi-agent coordination, and heterogeneity.


Editors and Affiliations

  • Center for Ubiquitous Computing, University of Oulu, Oulu, Finland

    Steven M. LaValle

  • Department of Computer Science and Engineering, Texas A&M University, College Station, USA

    Jason M. O’Kane

  • Department of Aerospace Engineering, University of Maryland, College Park, USA

    Michael Otte

  • Gates Computer Science, Stanford University, Stanford, USA

    Dorsa Sadigh

  • Department of Computer Science, University of Maryland, College Park, USA

    Pratap Tokekar

Bibliographic Information

  • Book Title: Algorithmic Foundations of Robotics XV

  • Book Subtitle: Proceedings of the Fifteenth Workshop on the Algorithmic Foundations of Robotics

  • Editors: Steven M. LaValle, Jason M. O’Kane, Michael Otte, Dorsa Sadigh, Pratap Tokekar

  • Series Title: Springer Proceedings in Advanced Robotics

  • DOI: https://doi.org/10.1007/978-3-031-21090-7

  • Publisher: Springer Cham

  • eBook Packages: Intelligent Technologies and Robotics, Intelligent Technologies and Robotics (R0)

  • Copyright Information: The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2023

  • Hardcover ISBN: 978-3-031-21089-1Published: 15 December 2022

  • Softcover ISBN: 978-3-031-21092-1Published: 16 December 2023

  • eBook ISBN: 978-3-031-21090-7Published: 14 December 2022

  • Series ISSN: 2511-1256

  • Series E-ISSN: 2511-1264

  • Edition Number: 1

  • Number of Pages: XV, 558

  • Number of Illustrations: 18 b/w illustrations, 170 illustrations in colour

  • Topics: Control, Robotics, Mechatronics, Computational Intelligence, Robotics

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